Finally, we use the designed PID controller to realize the longitudinalattitude tracking control of the helicopter.
最后，利用设计的PID控制器实现纵向姿态的跟踪控制，达到直升机纵向稳定控制的目的。
2
The attitude feedback processed by a filter was used to adjust continuously the parameters of the reference point, and the lean along the longitudinal and lateral direction are compensated.